Autonomous Drone Filght with QR Code Scanning and Payload Drop

March 22, 2025, 1:20 am

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Hello everyone,

I am working on an autonomous drone project using ArduPilot and need some guidance on implementing my mission. My goal is to:

1. Fly the drone autonomously to a predefined waypoint.

2. Scan a QR code at a specific location.

3. Drop a payload at a designated drop zone after scanning.

I would like to understand:

How can I configure ArduPilot to handle this mission?

What sensors or additional modules are recommended for QR code scanning?

How can I integrate the QR scanning process into the flight mission to trigger the payload drop?

Are there any existing implementations or examples for similar tasks?

I would appreciate any insights, suggestions, or references to relevant documentation.

Thanks in advance!

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Can't download logs via MavLink - 0 bytes

March 22, 2025, 2:40 am

≫ Next: Is it OK to treat an OctoPlane as a QuadPlane?

≪ Previous: Autonomous Drone Filght with QR Code Scanning and Payload Drop

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I do “first flight” on SpeedyBee f405 mini. And want to analyze logs.

Arducopter 4.5.7 (the same on 4.6.0-beta)
MissionPlanner 1.3.82 build 1.3.8979 (the same on beta 1.3.9151)

LOG_BACKEND_TYPE=block (internal flash).

I can see that log exists (3,7Mb):

But on downloading I get 0 size file.

Logs from the Mission planner ConsoleL:

INFO MissionPlanner.Log.LogDownloadMavLink - GetLog 1
INFO MissionPlanner.MAVLinkInterface - set giveComport Log download single thread current False new False
INFO MissionPlanner.MAVLinkInterface - {
  "Name": "Parent_OnPacketReceived",
  "AssemblyName": "MissionPlanner.ArduPilot, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null",
  "ClassName": "MissionPlanner.CurrentState",
  "Signature": "Void Parent_OnPacketReceived(System.Object, MAVLinkMessage)",
  "Signature2": "System.Void Parent_OnPacketReceived(System.Object, MAVLink+MAVLinkMessage)",
  "MemberType": 8,
  "GenericArguments": null
}
INFO MissionPlanner.MAVLinkInterface - {
  "Name": "<Start>b__8_0",
  "AssemblyName": "MissionPlanner.ArduPilot, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null",
  "ClassName": "MissionPlanner.ArduPilot.AIS+<>c",
  "Signature": "Void <Start>b__8_0(System.Object, MAVLinkMessage)",
  "Signature2": "System.Void <Start>b__8_0(System.Object, MAVLink+MAVLinkMessage)",
  "MemberType": 8,
  "GenericArguments": null
}
INFO MissionPlanner.MAVLinkInterface - {
  "Name": "MavOnOnPacketReceivedHandler",
  "AssemblyName": "example-watchbutton, Version=0.0.0.0, Culture=neutral, PublicKeyToken=null",
  "ClassName": "Shortcuts.ButtonPlugin",
  "Signature": "Void MavOnOnPacketReceivedHandler(System.Object, MAVLinkMessage)",
  "Signature2": "System.Void MavOnOnPacketReceivedHandler(System.Object, MAVLink+MAVLinkMessage)",
  "MemberType": 8,
  "GenericArguments": null
}
INFO MissionPlanner.MAVLinkInterface - {
  "Name": "_interface_OnPacketReceived",
  "AssemblyName": "MissionPlanner.Utilities, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null",
  "ClassName": "MissionPlanner.Utilities.TerrainFollow",
  "Signature": "Void _interface_OnPacketReceived(System.Object, MAVLinkMessage)",
  "Signature2": "System.Void _interface_OnPacketReceived(System.Object, MAVLink+MAVLinkMessage)",
  "MemberType": 8,
  "GenericArguments": null
}
INFO MissionPlanner.MAVLinkInterface - {
  "Name": "Parent_OnPacketReceived",
  "AssemblyName": "MissionPlanner.ArduPilot, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null",
  "ClassName": "MissionPlanner.CurrentState",
  "Signature": "Void Parent_OnPacketReceived(System.Object, MAVLinkMessage)",
  "Signature2": "System.Void Parent_OnPacketReceived(System.Object, MAVLink+MAVLinkMessage)",
  "MemberType": 8,
  "GenericArguments": null
}
INFO MissionPlanner.MAVLinkInterface - {
  "Name": "Parent_OnPacketReceived",
  "AssemblyName": "MissionPlanner.ArduPilot, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null",
  "ClassName": "MissionPlanner.CurrentState",
  "Signature": "Void Parent_OnPacketReceived(System.Object, MAVLinkMessage)",
  "Signature2": "System.Void Parent_OnPacketReceived(System.Object, MAVLink+MAVLinkMessage)",
  "MemberType": 8,
  "GenericArguments": null
}
INFO MissionPlanner.MAVLinkInterface - {
  "Name": "MessagesHandler",
  "AssemblyName": "MissionPlanner.ArduPilot, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null",
  "ClassName": "MissionPlanner.ArduPilot.Mavlink.GimbalManagerProtocol",
  "Signature": "Void MessagesHandler(System.Object, MAVLinkMessage)",
  "Signature2": "System.Void MessagesHandler(System.Object, MAVLink+MAVLinkMessage)",
  "MemberType": 8,
  "GenericArguments": null
}
INFO MissionPlanner.MAVLinkInterface - {
  "Name": "ParseMessages",
  "AssemblyName": "MissionPlanner.ArduPilot, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null",
  "ClassName": "MissionPlanner.ArduPilot.Mavlink.CameraProtocol",
  "Signature": "Void ParseMessages(System.Object, MAVLinkMessage)",
  "Signature2": "System.Void ParseMessages(System.Object, MAVLink+MAVLinkMessage)",
  "MemberType": 8,
  "GenericArguments": null
}
INFO MissionPlanner.MAVLinkInterface - {
  "Name": "<GetLog>b__0",
  "AssemblyName": "MissionPlanner.ArduPilot, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null",
  "ClassName": "MissionPlanner.MAVLinkInterface+<>c__DisplayClass277_0",
  "Signature": "Void <GetLog>b__0(System.Object, MAVLinkMessage)",
  "Signature2": "System.Void <GetLog>b__0(System.Object, MAVLink+MAVLinkMessage)",
  "MemberType": 8,
  "GenericArguments": null
}
INFO MissionPlanner.MAVLinkInterface - start fillin len 0 count 1 datalen 0
INFO MissionPlanner.MAVLinkInterface - set count 1
INFO MissionPlanner.MAVLinkInterface - count total 1
INFO MissionPlanner.MAVLinkInterface - totallength 0
INFO MissionPlanner.MAVLinkInterface - current length 0
INFO MissionPlanner.MAVLinkInterface - set giveComport Log download single thread current False new False
INFO MissionPlanner.Log.LogDownloadMavLink - about to move C:\Users\anton\AppData\Local\Temp\tmp7A6E.tmp to: C:\Users\anton\OneDrive\Documents\Mission Planner\logs\QUADROTOR\1\1 01.01.1970 2-00-00.bin
INFO MissionPlanner.Log.LogDownloadMavLink - about to GetFirstGpsTime: C:\Users\anton\OneDrive\Documents\Mission Planner\logs\QUADROTOR\1\1 01.01.1970 2-00-00.bin
Binary: False
DFLogBuffer-linecount: 0 time(ms): 0

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Is it OK to treat an OctoPlane as a QuadPlane?

March 22, 2025, 4:50 am

≫ Next: Number of Poles On T-Motor 2216

≪ Previous: Can't download logs via MavLink - 0 bytes

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I am now building an OctoPlane like this;

When I designed it I did not know that this is classified as Octo H and I planned to treat it as a QuadPlane with X frame type. My idea was to combine motor 1 with 3, 2 with 4, 5 with7 and 6 with 8 by connecting their ESC signal lines with Y harnesses. Motors 1&3 and 6&8 are CW and motors 2&4 and 5&7 are CCW. Thus, Motors 2&4 are connected with output 5, 5&7 are with output 6, 1&3 are with output 7 and 6&8 are with output 8.
For yaw control augmentation I made all motors are tilted outward by 2 deg.

Is this my design OK?

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Number of Poles On T-Motor 2216

March 22, 2025, 8:07 am

≫ Next: Issue in Holybro Kakute F722

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I have a faint recollection that there’s something different about the number of poles on the T-Motor 2216 motor.

When I look from the bottom of the case and count the magnets, there appears to be 14 - just as one might expect.

For some strange reason, eCalc shows that the number of magnets for motor is 10.

I can’t find a data sheet for this motor anywhere.

I’m having a little trouble with this motor and AM32 firmware. The AM32 firmware configuration needs to know the number of poles - and is set to 14 - perhaps a default.

I know a lot of people have used this motor - and I have a faint recollection of this question coming up for me a long time ago.

If anyone knows of some specifics, I’d appreciate the help. Thanks!

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Issue in Holybro Kakute F722

March 22, 2025, 8:16 am

≫ Next: Sudden crash with new battery - log file

≪ Previous: Number of Poles On T-Motor 2216

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I recently bought kakute f722 flight controller (Kakute F722 Flight Controller – Holybro Store) and wanted to flash arducopter in it but wasn’t able to do so because when I try to upload the bl_heli firmware after doing the necessary steps it shows some error in beta flight configurator. Even on configurator it showing board name as kakutef7miniv3. So I wanted to know if this board is compatible for ardupilot or not?
Else if someone knows how can I flash the ardupilot firmware in it then please help…

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Sudden crash with new battery - log file

March 22, 2025, 10:59 am

≫ Next: Radio Calibration?

≪ Previous: Issue in Holybro Kakute F722

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Hi everybody,

Well, after my previous troubles, I bought new batteries (5200 mAh), and the drone flew fine with them; I did about three or four flight of 10-11 minutes.

Today, the perfect day for autotune, after about 14 minutes and 50 seconds in flight (most part in autotune), the drone very suddenly fell out of the sky.
The battery monitor is set up, and should either land or RTL when the battery is low, but appartenly it didn’t, so either the battery monitor is not working or there is something else wrong. The drone did this with my old batteries also, but much sooner in flight (after about 7 minutes), and these batteries had only 2200mAh, so I still suspect a connection.

I uploaded the logfile here: Logfile March 23

I would very much appreciate somebody looking into it and give me an idea what might be wrong, since I’m very bad in understanding these data …

Thanks for all help,

Stefan.

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Radio Calibration?

March 22, 2025, 11:57 am

≫ Next: T-Drone MX-860 blueprint/drawings

≪ Previous: Sudden crash with new battery - log file

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Hi,

I’m currently building a Heewing V1 VTOL plane and I’m experiencing issues when connecting my radiomaster pocket.

I have a RP1 radiomaster ELRS receiver and a ELRS radiomaster pocket, I had to change the coding so my receiver in is at port ‘UART2’ and thankfully it’s worked and my receiver is showing a solid green light with Telemetry found.

On mission planner however radio calibration isn’t showing me the bars go up and down when I move the sticks.

My radiomaster pocket says model mismatch 5.

I’ve attached photos, if anyone knows how to get it to work on radio calibration it would be greatly appreciated.

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T-Drone MX-860 blueprint/drawings

March 22, 2025, 12:05 pm

≫ Next: MP’s magnetic interference testing

≪ Previous: Radio Calibration?

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Can someone help me out? I need T-Drone MX-860(MX860_Multirotor_Industrial Drone_Products_T-DRONES) structure drawings. Thank you in advance

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MP’s magnetic interference testing

March 22, 2025, 12:46 pm

≫ Next: Motors stop - 10 minutes into second hover test flight - copter falls 5' to the ground

≪ Previous: T-Drone MX-860 blueprint/drawings

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Good evening,
I read in a post about the magnetic interference testing feature of MP, but I can’t find any explanation.
Can someone help me? I would like to evaluate if the current compass position on my plane is correct.
Thanks

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Motors stop - 10 minutes into second hover test flight - copter falls 5' to the ground

March 22, 2025, 3:51 pm

≫ Next: Tuning for 13 in quadcopter Mark 4

≪ Previous: MP’s magnetic interference testing

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I’ve been sorting out a problem with an AM32 ESC - and finally determined the problem was with an parameter it appears my ESC doesn’t support.

With that resolved, my first hover test flight was long enough to get good data for MagFit - and set the parameters dependent on MOT_THST_HOVER.

My second hover flight was going really well - up until 10 minutes into the flight when all motors stopped.

Hover on Second Flight

I’ve searched through the logs and I don’t see anything that might have caused this.

There is a failsafe - but after the copter hits the ground.

I was impressed in fact, how good the vibe numbers look.

If I had to guess, maybe the ESC just quit. (although it still works - so I didn’t appear to smoke it) There may be no way to verify this.

I’d be very appreciative if anyone would take a look at the logs and see if they can see the source of the motor stoppage.

Thanks!

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Tuning for 13 in quadcopter Mark 4

March 22, 2025, 4:03 pm

≫ Next: Multipoint network with RFD900x with region lock

≪ Previous: Motors stop - 10 minutes into second hover test flight - copter falls 5' to the ground

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Hi All,

I have a 13 in Mark 4 quadcopter. The cost of the frame is only $40 with 508 kV motors running on 8S and 1308 Gemfan prop. The frame is very poor quality and the stabilizing bar falls part right away due to lack of glue and rigidity. Each arm is held only by two 3 mm screws.

https://www.aliexpress.us/item/3256806920649237.html?gatewayAdapt=glo2usa4itemAdapt

The frame works and the quad is fine. With the default parameter, everything was fine; it could do RTH, etc.

I did an autotune, and Quad is very different. Quad is a lot more responsive, and not so sluggish. But the quad feels very uptight and going on the verg of unstable.

I have a flight log here. Can anyone comment on the tune/ gyro settings, parameters? Is this crash purely due to the pilot error?

Note I didn’t use aggressiveness = 0.1 for Roll Pitch and Yaw. I used 0.05 for Yaw, and 0.07 for Roll and Pitch.

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Multipoint network with RFD900x with region lock

March 23, 2025, 1:51 am

≫ Next: Elrs module which is the best today?

≪ Previous: Tuning for 13 in quadcopter Mark 4

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Hello

I am trying to setup a mavlink mesh with an rfd900x-US as my master and rfd900ux-US as my slaves. I can see with the RF Design tools that the master node sees all of my 5 nodes (Node IDs 2,3,4,5,6). However, when I try to connect to mission planner. I struggle to connect. If I power them all off but one, I am able to get Mission planner to connect. However, when I have two powered on, Mission Planner will only connect to one of them, and it appears to be whichever of the slaves I powered on first. I have also tried with all 5 slaves powered and this was unsuccessful.

I have put the parameters that I use below. (I could not use the exact parameters as the manual because my region locked version would not let me change S8 and S10)

I also have different SYSID_THISMAV for each slave. I have the master node plugged into the GCS.

Am I missing anything? I am also using Flow control. I have also tried to physically spread them apart. But I still struggle and have yet to get two to connect at the same time to Mission Planner or MavProxy. I have also tried setting the serial port of my flight controller to use High Latency Mavlink messages and this does not help. I also have confirmed that my baud settings for the serial port is correct at 115200 baud. I see my master has a solid green light shortly after it powers up, and when my slaves power up they are green with blinking red and my master also appears to have a blinking red along with the solid green.

I have also tried to reference previous posts:
Settings for multi-vehicle setup with RFD radios - Hardware / Radios - ArduPilot Discourse

Upgraded telemetry radios to a multipoint network, now radios stopped sending data and Rover wont even achieve 100cm accuracy - Hardware Vendors / RFDesign - ArduPilot Discourse

but I believe a difference in my case is that I am I am using the region locked rfd and most likely a newer version of the firmware.

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Elrs module which is the best today?

March 23, 2025, 4:18 am

≫ Next: PreArm: Battery 1 unhealthy (Pixhawk 6x)

≪ Previous: Multipoint network with RFD900x with region lock

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Can’t connect via old silk radio so want to get into elrs so get telem and radio, watched lots of videos and nomad seems good have both 900 and 2.4ghz. Looked at the ranger but they are older, or what module would you go for under 100 bucks. Have tx16s, would this package work?

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PreArm: Battery 1 unhealthy (Pixhawk 6x)

March 23, 2025, 5:30 am

≫ Next: Including Advanced Failsafe System (AFS) in BDshot firmware

≪ Previous: Elrs module which is the best today?

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Params are attached.
I am having the following issue: “PreArm: Battery 1 unhealthy” on a Pixhawk 6x, Holybro 650 kit. Screenshot attached for the Mission Planner screen as well. I am using a “Tattu G-tech 6S 8000mAh 25C 22.2V Lipo Battery Pack with XT60 Plug” battery

I tried the following:

• Set: BATT_MONITOR = 21, BATT_I2C_BUS = 1, BATT_I2C_ADDR= 65 (as holybro docs mention here: Analog Power Module Setup | Holybro Docs)
• Checked battery voltage and tried a different batter
• Checked wiring, and motors are working and connected correctly
• Using correct battery module: “PM02D-v1”
• Haven’t yet configured GPS because working indoor, but I think this is not relevant
• Checked other similar topics but no solution worked

I am pretty new to everything, so execuse me if something is not clear.

params_23_03_2025.param (18.2 KB)

Logs: 1 1-1-1970 3-00-00 AM.bin - Google Drive

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Including Advanced Failsafe System (AFS) in BDshot firmware

March 23, 2025, 6:48 am

≫ Next: Get EKF variance in PosHold(Loiter) Mode

≪ Previous: PreArm: Battery 1 unhealthy (Pixhawk 6x)

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I’ve discovered a temperature issue with a new ESC - a Skystars KM55A. (thanks to help from folks here) This ESC uses AM32.

As I understand the docs, to enable an ArduPilot ESC temperature failsafe requires the Advanced Failsafe System (AFS) to be included. It read that it’s included in “plane” but not in “copter”.

While ESC telemetry can be received from any ESC with a telemetry port, it seems to me that anyone using the BDshot image is specifically looking to use ESC telemetry - and would likely make use of the advanced failsafes.

Interestingly, when I compare logs from BLHeli_32 copters and my new AM32 copter, BLHeli_32 only reports RPM over BDshot. AM32 reports many more parameters, including temperature.

Meanwhile, if anyone has a current copter image using BDshot and AFS for a Cube Orange they could let me try, I’d really appreciate it.

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Get EKF variance in PosHold(Loiter) Mode

March 23, 2025, 7:21 am

≫ Next: Mavros vs. ROS2/DDS bridge for AUTO

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Please help me out , I didn’t understand how to solve this problem, when I am flying with poshold mode using GPS everything is fine but when I change ek3 source to using opticalflow I got EKF variance and quadcopter go to LAND mode.
I’m using Copter 4.5.6.
This Parameters I’ll set in AP
EK3_SRC1_POSXY = 3
EK3_SRC1_POSZ = 1
EK3_SRC1_VELXY = 3
EK3_SRC1_VELZ = 3
EK3_SRC1_YAW = 1

EK3_SRC2_POSXY = 0
EK3_SRC2_POSZ = 1
EK3_SRC2_VELXY = 5
EK3_SRC2_VELZ = 0
EK3_SRC2_YAW = 1

I’m sharing the critical massage screenshot and screenshot with graphs from MAVExplorer also add link to log

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Mavros vs. ROS2/DDS bridge for AUTO

March 23, 2025, 7:31 am

≫ Next: Unexplained Violent Pitch and Roll Values

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Hi,
I would like develop fixed wing AUTO and
I am pessimistic about which one I have to use on project for communicate with ros2.

xrcedds and ros2 communication enough for develop AUTO or
I have to implement mavros to complete project properly.

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Unexplained Violent Pitch and Roll Values

March 23, 2025, 7:51 am

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Params.param (16.8 KB)

While trying to maintain our altitude and position the copter violently rolled right, there was some pilot input but not to the extent of that. It also seems like there was a miscommunication with the DesPitch and AttPitch values, same with the Roll values. I have attached the .bin file. Crash starts around 16:17:06. Disregard the file name, we thought we put it in loiter mode but actually didnt. .bin

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Can't get lua script enabled, SRC_ENABLE

March 23, 2025, 9:29 am

≫ Next: Battery for Copter

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(topic deleted by author)

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Battery for Copter

March 23, 2025, 12:13 pm

≫ Next: Quad Thrust/Weight Concern

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Hi,

What would be the preferred battery voltage (3s or 4s) for a quadcopter with 4x950KV motors, weighing approximately 1300g and equipped with 11x4.5 inch props?

I need more batteries but have an equal number of 3s and 4s. I am wondering whether to choose 3s or 4s for new set.

Motors and ESCs are rated for both 3s and 4s.
The hover throttle is currently approximately 0.2 with a 3S battery.

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